高空长航时无人机飞行控制计算机系统冗余设计技术研究

【作者】 刘小雄；

【导师】 陈怀民；

【作者基本信息】 西北工业大学 ， 导航、制导与控制， 2004， 硕士

【摘要】 高空长航时无人机需要很高的可靠性才能完成各种任务。采用冗余容错技术可以提高系统的可靠性。本文针对某型号预研高空长航时无人机飞行控制计算机系统的可靠性要求，运用冗余容错技术对其进行了设计研究。首先分析了计算机冗余结构的基本类型以及本次设计的要求特点，选择了自监控二冗余飞行控制计算机系统的设计方案，运用马尔科夫模型对此冗余系统的可靠性进行了计算研究，并且对此冗余结构进行了详细地描述及设计。对冗余管理所涉及的通道的同步技术、通道内及通道间的数据交换、信号的监控和表决、通道故障逻辑、计算机故障检测及容错处理等技术进行了讨论研究。然后将此冗余管理算法在嵌入式实时操作系统VxWorks下进行实现，并给出结果。最后对系统结构进行数字仿真，并进行故障注入研究，以便更好的验证系统的可靠性和合理性。仿真结果表明，采用自监控二冗余计算机结构提高了系统的可靠性，而且结构简单合理，满足设计要求。更多还原

【Abstract】 A high altitude, long endurance unmanned aerial vehicles should be high reliability for achieving kinds of tasks. And using techniques of redundancy fault-tolerance can improve reliability. Focusing on the advance research of the flight control computer system of some type of a high altitude, long endurance unmanned aerial vehicles, this paper analyzes and research its staicture in techniques of redundancy fault-tolerance. Firstly discussing basic type of computer redundant structure and characteristic of the systems, the self-monitoring dual redundancy computer systems is brought forward as the design scheme for the required flight control computer system. The redundant structure is researched about reliability by using Markor model and is carefully designed. Also designed and researched the synchronization scheme for channels, the data transmission scheme for channels, failure logic scheme for channels, the strategies of signals voting and monitoring, computer failure checking scheme about techniques of redundant management. And then the algorithm of redundant management is embedding into embedded real-time operating system VxWorks. Finally the systems structure is simulated in digital method and is researched about fault injection so that its reliability and rationality should be validated. It shows the self-monitoring dual redundancy computer systems which is simple and rational that improve reliability of redundant systems.更多还原